The invention discloses an urban rail transit automatic inspection vehicle and a positioning method thereof. The automatic inspection vehicle comprises wheels, a driving motor with an encoder and a sensor used for sensing sleepers. According to the positioning method, on the one hand, the encoder counts the rotation turns of the driving motor so as to calculate the moving distance of the automaticinspection vehicle; on the other hand, the number of sleepers passed by the automatic inspection vehicle is recorded through the sensor, and then the moving distance of the automatic inspection vehicle is calculated; and double positioning is conducted, the double positioning results are compared to finally obtain an accurate moving distance, and the current accurate position of the automatic inspection vehicle is obtained by combining the initial position of the automatic inspection vehicle. The positioning method overcomes the difficulties that the automatic inspection vehicle cannot receive GPS satellite signals in an underground tunnel and cannot be positioned. Meanwhile, according to the positioning method, an induction target (namely, a sleeper) which exists in the tunnel and is notprone to being damaged is utilized, the cost is low, and the result is stable and reliable.
一种城市轨道交通自动巡检车及其定位方法。该自动巡检车包括车轮、带有编码器的驱动电机、用于感应枕木的传感器。该定位方法一方面通过该编码器计数该驱动电机的转动圈数进而计算出该自动巡检车的移动距离,另一方通过该传感器记录该自动巡检车经过的枕木的数量进而计算出该自动巡检车的移动距离,通过双重定位,并将两重定位结果进行比对最终得出准确的移动距离,再结合该自动巡检车的初始位置得到该自动巡检车的当前的准确位置。该定位方法克服了自动巡检车无法在地下隧道收到GPS卫星信号,无法定位的困难。同时,该定位方法利用了隧道内本身已然存在的且不易被破坏的感应目标(即枕木),成本低廉且结果稳定可靠。
Urban rail transit automatic inspection vehicle and positioning method thereof
一种城市轨道交通自动巡检车及其定位方法
2020-07-07
Patent
Electronic Resource
Chinese
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